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首页> 外文会议>2012 American Control Conference. >A comparative study of control algorithms for active trailer steering systems of articulated heavy vehicles
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A comparative study of control algorithms for active trailer steering systems of articulated heavy vehicles

机译：铰接式重型车辆主动挂车转向系统控制算法的比较研究

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摘要

This paper presents a benchmark investigation on control algorithms for active trailer steering (ATS) systems of articulated heavy vehicles (AHVs). Two control algorithms are designed for the ATS systems of AHVs, which are derived using the Fuzzy Logic Control (FLC) and Linear Quadratic Regulator (LQR) techniques, respectively. The two algorithms are evaluated through dynamic simulations of an AHV with ATS systems. The AHV with a tractor/semi-trailer configuration is modeled using a multibody software package, TruckSim, and the controllers are designed in Simulink/Matlab. With the interface between the two packages, the controllers and the vehicle model are integrated and the dynamic simulations can be conducted. Under the specified test maneuvers, the directional performance of the ATS systems based on the two algorithms are compared. The simulation results show that compared with the baseline design, both the FLC and LQR controllers can improve the maneuverability and stability of the AHV. The performance comparison also indicates that the controller based on the LQR technique outperforms that derived from the FLC method. However, the former achieves better performance at the expense of higher energy consumption.
机译：本文介绍了铰接式重型车辆（AHV）的主动挂车转向（ATS）系统控制算法的基准研究。针对AHV的ATS系统设计了两种控制算法，分别使用模糊逻辑控制（FLC）和线性二次调节器（LQR）技术推导得出。这两种算法是通过ATS系统的AHV的动态仿真进行评估的。带有拖拉机/半拖车配置的AHV使用多体软件包TruckSim进行建模，并且控制器在Simulink / Matlab中设计。通过两个软件包之间的接口，控制器和车辆模型得以集成，并且可以进行动态仿真。在指定的测试操作下，比较了基于两种算法的ATS系统的定向性能。仿真结果表明，与基线设计相比，FLC和LQR控制器均可提高AHV的机动性和稳定性。性能比较还表明，基于LQR技术的控制器的性能优于从FLC方法得出的控制器。但是，前者以更高的能耗为代价获得了更好的性能。

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